Vision-based contact type measurement robot self-adaptive measurement point relative guiding method

The invention discloses a vision-based contact type measuring robot self-adaptive measuring point relative guiding method, which comprises the steps of realizing plane translation, rotation and height scaling four-degree-of-freedom measuring point guiding through a 2D vision-based product image contour matching method, and is suitable for measuring point guiding measurement of a contact type six-axis cooperative measuring robot of a product with local characteristics. Comprising the following steps: carrying out contact type six-axis cooperative measurement robot measurement point teaching on a to-be-measured product; determining a teaching 2D measurement pose, obtaining a product multi-scale contour image template under the teaching 2D measurement pose and a multi-scale image of a current product, and performing contour matching of corresponding scale levels; and calculating a first pose deviation under the measurement pose of the teaching 2D based on a contour matching result, converting the first pose devi